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<div class="title">SpatialInertia.h</div>  </div>
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<a href="../../d4/d7d/_spatial_inertia_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef LIBBIOMIMETICS_SPATIALINERTIA_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define LIBBIOMIMETICS_SPATIALINERTIA_H</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d4/dfb/orientation__tools_8h.html">Math/orientation_tools.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/dc8/spatial_8h.html">spatial.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;type_traits&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Dense&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">using namespace </span><a class="code" href="../../da/d9b/namespaceori.html">ori</a>;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">using namespace </span><a class="code" href="../../de/d1a/namespacespatial.html">spatial</a>;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html">   25</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a> {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#adf9a3b33f49f627e056a34ef2c8bd7da">   32</a></span>&#160;  <a class="code" href="../../d6/d81/class_spatial_inertia.html#adf9a3b33f49f627e056a34ef2c8bd7da">SpatialInertia</a>(T mass, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>&amp; com, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a>&amp; inertia) {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> cSkew = <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(com);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    _inertia.template topLeftCorner&lt;3, 3&gt;() =</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        inertia + mass * cSkew * cSkew.transpose();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    _inertia.template topRightCorner&lt;3, 3&gt;() = mass * cSkew;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    _inertia.template bottomLeftCorner&lt;3, 3&gt;() = mass * cSkew.transpose();</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    _inertia.template bottomRightCorner&lt;3, 3&gt;() = mass * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#aff0ba2abb1ff96cea0424bb0ee2edba5">   44</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html#aff0ba2abb1ff96cea0424bb0ee2edba5">SpatialInertia</a>(<span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a>&amp; inertia) { _inertia = inertia; }</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#abda700d74f76cfaeb20a610a247f05c3">   49</a></span>&#160;  <a class="code" href="../../d6/d81/class_spatial_inertia.html#abda700d74f76cfaeb20a610a247f05c3">SpatialInertia</a>() { _inertia = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;::Zero</a>(); }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#a4fa8c76f7485ea4c5b85130456627544">   54</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html#a4fa8c76f7485ea4c5b85130456627544">SpatialInertia</a>(<span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties&lt;T&gt;</a>&amp; a) {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    _inertia(0, 0) = a(4);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    _inertia(0, 1) = a(9);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    _inertia(0, 2) = a(8);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    _inertia(1, 0) = a(9);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    _inertia(1, 1) = a(5);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    _inertia(1, 2) = a(7);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    _inertia(2, 0) = a(8);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    _inertia(2, 1) = a(7);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    _inertia(2, 2) = a(6);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> cSkew = <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(a(1), a(2), a(3)));</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    _inertia.template topRightCorner&lt;3, 3&gt;() = cSkew;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    _inertia.template bottomLeftCorner&lt;3, 3&gt;() = cSkew.transpose();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    _inertia.template bottomRightCorner&lt;3, 3&gt;() = a(0) * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#acf0a41b31a51c8eca921a9b13a0cf40b">   77</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html#acf0a41b31a51c8eca921a9b13a0cf40b">SpatialInertia</a>(<span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;</a>&amp; P) {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> I;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    T m = P(3, 3);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> h = P.template topRightCorner&lt;3, 1&gt;();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> E = P.template topLeftCorner&lt;3, 3&gt;();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Ibar = E.trace() * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>() - E;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    I.template topLeftCorner&lt;3, 3&gt;() = Ibar;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    I.template topRightCorner&lt;3, 3&gt;() = <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(h);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    I.template bottomLeftCorner&lt;3, 3&gt;() = <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(h).transpose();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    I.template bottomRightCorner&lt;3, 3&gt;() = m * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    _inertia = I;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#a6a56ab7bc5c176a6c532ac13da61280e">   93</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties&lt;T&gt;</a> <a class="code" href="../../d6/d81/class_spatial_inertia.html#a6a56ab7bc5c176a6c532ac13da61280e">asMassPropertyVector</a>() {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties&lt;T&gt;</a> a;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> h = <a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(_inertia.template topRightCorner&lt;3, 3&gt;());</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    a &lt;&lt; _inertia(5, 5), h(0), h(1), h(2), _inertia(0, 0), _inertia(1, 1),</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        _inertia(2, 2), _inertia(2, 1), _inertia(2, 0), _inertia(1, 0);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">return</span> a;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#a593dcefeff8e432d7ad09e620aa9e155">  104</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a>&amp; <a class="code" href="../../d6/d81/class_spatial_inertia.html#a593dcefeff8e432d7ad09e620aa9e155">getMatrix</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _inertia; }</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#abbda356aa2bb6b1ec6b2716278086d39">  106</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html#abbda356aa2bb6b1ec6b2716278086d39">setMatrix</a>(<span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a>&amp; mat) { _inertia = mat; }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#acc8d6e630e9a759ce9a518152555f526">  108</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html#acc8d6e630e9a759ce9a518152555f526">addMatrix</a>(<span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a>&amp; mat) { _inertia += mat; }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#a028068e045683d277c68c931ee466d25">  113</a></span>&#160;  T <a class="code" href="../../d6/d81/class_spatial_inertia.html#a028068e045683d277c68c931ee466d25">getMass</a>() { <span class="keywordflow">return</span> _inertia(5, 5); }</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#aca01456bae9ae59c9c2951a3f20f23ba">  118</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../d6/d81/class_spatial_inertia.html#aca01456bae9ae59c9c2951a3f20f23ba">getCOM</a>() {</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    T m = getMass();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> mcSkew = _inertia.template topRightCorner&lt;3, 3&gt;();</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> com = <a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(mcSkew) / m;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">return</span> com;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#aaad7e12bff8c241087de23177ec067f0">  128</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> <a class="code" href="../../d6/d81/class_spatial_inertia.html#aaad7e12bff8c241087de23177ec067f0">getInertiaTensor</a>() {</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    T m = getMass();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> mcSkew = _inertia.template topRightCorner&lt;3, 3&gt;();</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> I_rot = _inertia.template topLeftCorner&lt;3, 3&gt;() -</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                    mcSkew * mcSkew.transpose() / m;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">return</span> I_rot;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#a0aad367456ae80e3223f5c37b98dc441">  142</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;</a> <a class="code" href="../../d6/d81/class_spatial_inertia.html#a0aad367456ae80e3223f5c37b98dc441">getPseudoInertia</a>() {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> h = <a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(_inertia.template topRightCorner&lt;3, 3&gt;());</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Ibar = _inertia.template topLeftCorner&lt;3, 3&gt;();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    T m = _inertia(5, 5);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;</a> P;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    P.template topLeftCorner&lt;3, 3&gt;() =</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        0.5 * Ibar.trace() * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>() - Ibar;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    P.template topRightCorner&lt;3, 1&gt;() = h;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    P.template bottomLeftCorner&lt;1, 3&gt;() = h.transpose();</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    P(3, 3) = m;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordflow">return</span> P;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#aff11035cf43a7415b7a60325c4ae392b">  158</a></span>&#160;  <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a> <a class="code" href="../../d6/d81/class_spatial_inertia.html#aff11035cf43a7415b7a60325c4ae392b">flipAlongAxis</a>(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a> axis) {</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;</a> P = getPseudoInertia();</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;</a> <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">X</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">if</span> (axis == <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">CoordinateAxis::X</a>)</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">X</a>(0, 0) = -1;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (axis == <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>)</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">X</a>(1, 1) = -1;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (axis == <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">CoordinateAxis::Z</a>)</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">X</a>(2, 2) = -1;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    P = X * P * <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">X</a>;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>(P);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">  172</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;};</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="preprocessor">#endif  // LIBBIOMIMETICS_SPATIALINERTIA_H</span></div><div class="ttc" id="namespaceori_html_a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">ori::CoordinateAxis::Z</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a593dcefeff8e432d7ad09e620aa9e155"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a593dcefeff8e432d7ad09e620aa9e155">SpatialInertia::getMatrix</a></div><div class="ttdeci">const Mat6&lt; T &gt; &amp; getMatrix() const </div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00104">SpatialInertia.h:104</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_acf0a41b31a51c8eca921a9b13a0cf40b"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#acf0a41b31a51c8eca921a9b13a0cf40b">SpatialInertia::SpatialInertia</a></div><div class="ttdeci">SpatialInertia(const Mat4&lt; T &gt; &amp;P)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00077">SpatialInertia.h:77</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a5e48cf69558cf96d92f71803cf9d19a4"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 4 &gt; Mat4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00094">cppTypes.h:94</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_aaad7e12bff8c241087de23177ec067f0"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#aaad7e12bff8c241087de23177ec067f0">SpatialInertia::getInertiaTensor</a></div><div class="ttdeci">Mat3&lt; T &gt; getInertiaTensor()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00128">SpatialInertia.h:128</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_aff11035cf43a7415b7a60325c4ae392b"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#aff11035cf43a7415b7a60325c4ae392b">SpatialInertia::flipAlongAxis</a></div><div class="ttdeci">SpatialInertia flipAlongAxis(CoordinateAxis axis)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00158">SpatialInertia.h:158</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a028068e045683d277c68c931ee466d25"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a028068e045683d277c68c931ee466d25">SpatialInertia::getMass</a></div><div class="ttdeci">T getMass()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00113">SpatialInertia.h:113</a></div></div>
<div class="ttc" id="namespaceori_html_a02c20a1b1d35988c657aa1e219d609d5"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">ori::CoordinateAxis</a></div><div class="ttdeci">CoordinateAxis</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00032">orientation_tools.h:32</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a6a56ab7bc5c176a6c532ac13da61280e"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a6a56ab7bc5c176a6c532ac13da61280e">SpatialInertia::asMassPropertyVector</a></div><div class="ttdeci">MassProperties&lt; T &gt; asMassPropertyVector()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00093">SpatialInertia.h:93</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_abda700d74f76cfaeb20a610a247f05c3"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#abda700d74f76cfaeb20a610a247f05c3">SpatialInertia::SpatialInertia</a></div><div class="ttdeci">SpatialInertia()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00049">SpatialInertia.h:49</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_acc8d6e630e9a759ce9a518152555f526"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#acc8d6e630e9a759ce9a518152555f526">SpatialInertia::addMatrix</a></div><div class="ttdeci">void addMatrix(const Mat6&lt; T &gt; &amp;mat)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00108">SpatialInertia.h:108</a></div></div>
<div class="ttc" id="class_spatial_inertia_html"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">SpatialInertia.h:25</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a0aad367456ae80e3223f5c37b98dc441"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a0aad367456ae80e3223f5c37b98dc441">SpatialInertia::getPseudoInertia</a></div><div class="ttdeci">Mat4&lt; T &gt; getPseudoInertia()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00142">SpatialInertia.h:142</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_aca01456bae9ae59c9c2951a3f20f23ba"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#aca01456bae9ae59c9c2951a3f20f23ba">SpatialInertia::getCOM</a></div><div class="ttdeci">Vec3&lt; T &gt; getCOM()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00118">SpatialInertia.h:118</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_adf9a3b33f49f627e056a34ef2c8bd7da"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#adf9a3b33f49f627e056a34ef2c8bd7da">SpatialInertia::SpatialInertia</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW SpatialInertia(T mass, const Vec3&lt; T &gt; &amp;com, const Mat3&lt; T &gt; &amp;inertia)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00032">SpatialInertia.h:32</a></div></div>
<div class="ttc" id="namespacespatial_html"><div class="ttname"><a href="../../de/d1a/namespacespatial.html">spatial</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00019">spatial.h:19</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a4fa8c76f7485ea4c5b85130456627544"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a4fa8c76f7485ea4c5b85130456627544">SpatialInertia::SpatialInertia</a></div><div class="ttdeci">SpatialInertia(const MassProperties&lt; T &gt; &amp;a)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00054">SpatialInertia.h:54</a></div></div>
<div class="ttc" id="namespaceori_html_a153f2a76610f0c5524da3f8bf8fa4dfa"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">ori::vectorToSkewMat</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; vectorToSkewMat(const Eigen::MatrixBase&lt; T &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00096">orientation_tools.h:96</a></div></div>
<div class="ttc" id="orientation__tools_8h_html"><div class="ttname"><a href="../../d4/dfb/orientation__tools_8h.html">orientation_tools.h</a></div><div class="ttdoc">Utility functions for 3D rotations. </div></div>
<div class="ttc" id="namespaceori_html_a0d9277fde185aecf3eae4a6d6450d25f"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">ori::matToSkewVec</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; matToSkewVec(const Eigen::MatrixBase&lt; T &gt; &amp;m)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00108">orientation_tools.h:108</a></div></div>
<div class="ttc" id="namespaceori_html"><div class="ttname"><a href="../../da/d9b/namespaceori.html">ori</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00028">orientation_tools.h:28</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_abbda356aa2bb6b1ec6b2716278086d39"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#abbda356aa2bb6b1ec6b2716278086d39">SpatialInertia::setMatrix</a></div><div class="ttdeci">void setMatrix(const Mat6&lt; T &gt; &amp;mat)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00106">SpatialInertia.h:106</a></div></div>
<div class="ttc" id="namespaceori_html_a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">ori::CoordinateAxis::Y</a></div></div>
<div class="ttc" id="namespaceori_html_a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">ori::CoordinateAxis::X</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ad7673cd2189f78a761c3a51d9c1314b1"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 10, 1 &gt; MassProperties</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00098">cppTypes.h:98</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_aff0ba2abb1ff96cea0424bb0ee2edba5"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#aff0ba2abb1ff96cea0424bb0ee2edba5">SpatialInertia::SpatialInertia</a></div><div class="ttdeci">SpatialInertia(const Mat6&lt; T &gt; &amp;inertia)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00044">SpatialInertia.h:44</a></div></div>
<div class="ttc" id="spatial_8h_html"><div class="ttname"><a href="../../d9/dc8/spatial_8h.html">spatial.h</a></div><div class="ttdoc">Utility functions for manipulating spatial quantities. </div></div>
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